tracker Class Reference

List of all members.

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Detailed Description

Tracker class. This is the "main" class of this tracker implementation.

Public Member Functions
	tracker ()
	Constructor.
	~tracker ()
	Destructor.
void	initialize (laserscan &scan)
	Initialize tracker.
int	is_initialized ()
	Return intialization status.
void	set_name (char *name)
	Set tracker name.
char *	get_name ()
	Get tracker name.
double	get_timestamp ()
	Get tracker timestamp.
int	get_n_tracks ()
	Get number of tracks.
track *	get_track (int i)
	Get track i from track list.
void	init_cycle ()
	Init cycle.
void	finalize_cycle ()
	Finalize cycle.
void	predict (double timestamp)
	Predict state of all tracks -> xp, Cp.
void	predict_measurements ()
	Predict measurements of all tracks -> zp, H.
void	observe (laserscan &scan)
	Perform observation -> z, R.
void	make_data_associations ()
	Perform data association -> v.
void	update_ekf ()
	Update all tracks using the EKF -> x, C.
void	init_new_tracks ()
	Initialize new tracks.
void	delete_tracks ()
	Delete unconfirmed tracks.
void	print ()
	Print tracker info into shell.
void	print_gnuplot (laserscan &scan)
	Pipe'n'print tracker info into gnuplot.
Private Attributes
char *	name
	Name of the tracker object.
double	timestamp
	Indicates the point in time of the tracker's last update.
int	n_cycles
	Global, ever-increasing cycle counter.
int	id_counter
	Counter to generate unique track id's.
int	initialized
	Initialized flag of the tracker object.
vector< track >	tracks
	List of tracks.
vector< observation >	observations
	List of observations.
vector< pairing >	pairings
	List of data associations.
local_feature_map	fmap
	Feature map object. This is the where the sensor information comes in.
local_grid_map	gmap_m
	Grid map objects for motion features (currently not used).
local_grid_map	gmap_s
	Grid map objects for shape features (currently not used).

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